CN105499953B - Industrial robot based automobile engine piston and cylinder body assembly system and method - Google Patents
Industrial robot based automobile engine piston and cylinder body assembly system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses an industrial robot-based automobile engine piston and cylinder body assembly system and method. The method comprises the steps of identifying a piston through a camera, obtaining the position of the piston according to characteristics by using a computer module, controlling a robot, grabbing the piston by a mechanical gripper, and assembling the piston into a cylinder body of an automobile engine. Wherein four pistons of having accomplished the connecting rod assembly are placed side by side on the iron stand platform, and the mechanical gripper is installed at industrial robot end for snatch the piston, press from both sides tight piston ring, carry out piston assembly. The camera is arranged at the front end of the arm and used for identifying and positioning the cylinder body on the piston and cylinder body combination device. The computer module is connected with the robot, the camera, the manipulator gripper and the cylinder body combination device through signal lines, and data processing and control signal transmission are achieved. The invention can accurately and efficiently realize the automatic assembly process of the piston and the engine cylinder body.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an industrial robot-based automobile engine piston and cylinder assembly system and method.
Background
The automobile engine is an important part for providing power for the automobile and is the heart of the automobile. The automobile engine directly determines the safety performance, the stability performance and the power performance of the automobile. In industrial production, the assembly of a piston and a cylinder block is the most important and troublesome ring in an automobile engine. If a reasonable assembly method and an efficient operation mode are used, the production quality of the automobile engine can be improved, the production efficiency can be improved, the workload of workers can be reduced, and the assembly cost can be saved.
With the rapid development of robots, particularly industrial robots, the robot is widely applied. In particular, in the automobile production industry, industrial robots are favored for their high stability, flexibility and accuracy, and are now used in large scale in production lines of painting, welding, transporting, mounting, and the like. Nevertheless, industrial robots have great potential for development in the automotive industry.
The automatic assembling process of the automobile engine cylinder body is more and more emphasized, and a piston, a piston pin and a connecting rod assembling method and a device based on an industrial robot are proposed in Chinese patent CN 101913076. The patent only relates to the assembly process of the connecting rod and the piston, but does not mention the important assembly link of the piston and the cylinder block, and if the two processes are connected, the assembly efficiency of the automobile engine can be greatly improved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an automobile engine piston and cylinder body assembly system based on an industrial robot.
The technical scheme adopted by the invention is as follows: an automobile engine piston and cylinder body assembly system based on an industrial robot comprises a robot, a camera, a mechanical gripper, a cylinder body combination device, a computer module and a piston;
the assembled pistons are arranged on the iron stand platform side by side;
the mechanical gripper is arranged at the tail end of the robot and used for grabbing the piston, clamping the piston ring and assembling the piston;
the camera is arranged at the front end of an arm of the robot and used for identifying and positioning a cylinder body on the piston and cylinder body combination device;
and the computer module is respectively connected with the robot, the camera, the mechanical gripper and the cylinder body combination device through signal lines to realize data processing and control signal transmission.
Preferably, the cylinder body composite set includes AC servo motor, cylinder body, clamping mechanism, base, AC servo motor installs on clamping mechanism, clamping mechanism installs on the base, the cylinder body is fixed between clamping mechanism, rotates through AC servo motor and drives the cylinder body and rotate together, be equipped with a plurality of piston grooves on the cylinder body.
Preferably, the number of the piston grooves on the piston and the cylinder body is four.
Preferably, the alternating current servo motor rotates to drive the cylinder body to rotate for 360 degrees
Preferably, the computer module comprises an image recognition positioning module, a paw control module, a robot control module, a cylinder body assembly control module and a central control module, wherein the image recognition positioning module comprises piston positioning and piston groove positioning of a cylinder body, the image recognition positioning module determines the paw control module, the robot control module and the cylinder body assembly control module, the operation precision of the image recognition positioning module is high, data output by the image recognition positioning module is transmitted to the central control module, the data are distributed to the paw control module, the robot control module and the cylinder body assembly control module respectively, data are coordinated and controlled, and the processed data are transmitted to each device by each module to realize integral assembly work.
Preferably, the cylinder assembly is prepared as follows:
step B1: establishing a conversion relation between the rotation angle of the alternating current servo motor and the position of the cylinder body, determining the assembly position of the cylinder body, adjusting the rotation speed of the alternating current servo motor, and waiting for receiving an assembly signal sent by the computer module;
step B2: after the computer module sends an assembly signal, the cylinder body is rotated to an assembly position to wait for the installation of the piston;
step B3: and after the four pistons are installed, the computer module sends a transfer completion signal, and the alternating current servo motor rotates at a low speed by 180 degrees to prepare for fixing the pistons.
Preferably, the piston positioning process in the image recognition and positioning module is as follows:
step C1: carrying out graying processing on the piston image obtained by the camera to obtain a grayed picture comprising a plurality of piston bottoms;
step C2: matching the stored piston image external circular contour characteristic template with a gray picture comprising a plurality of piston bottoms by using a template matching algorithm to find an area containing a piston image;
step C3: calculating the number of pistons in the image, if the number of pistons is more than 1, selecting the piston at the leftmost end of the image, and extracting the piston by image segmentation;
step C4: the bottom of a piston leaving a factory is provided with a directional characteristic mark, a piston picture template containing characteristics is matched with an extracted piston picture by using a template matching algorithm, the characteristics are identified, and the position of the piston is positioned and extracted;
step C5: and transmitting the obtained position and the corresponding piston data to a central control module for processing.
Preferably, the cylinder piston groove positioning work process in the image recognition positioning module is as follows:
d1, numbering the piston grooves, receiving control module data, and determining the need to identify the piston groove number;
d2, performing graying processing on the cylinder images acquired by the camera to obtain grayed pictures with four piston grooves;
d3, comparing the template of the external outline image of the piston groove stored in the cylinder with a gray image of the cylinder containing four piston grooves by using a template matching algorithm, and identifying and positioning the positions of the four piston grooves;
and D4, determining the piston grooves to be assembled according to the numbers, and transmitting the obtained position data to the central control module.
An automobile engine piston and cylinder body assembling method based on an industrial robot comprises the following steps:
step A1: adjusting camera parameters, establishing a conversion relation between a mechanical gripper of the robot and a camera coordinate system, and setting an initial preparation position point, a cylinder image acquisition position point and a cylinder fixing position point of the robot;
step A2: moving the robot to an initial point, starting to acquire piston images on the iron frame workbench by a camera, identifying the pistons according to the piston images by a computer module, calculating the number of the pistons, and determining the pistons to be grabbed;
step A3: the computer module extracts the characteristics of the piston to be grabbed and calculates to obtain the position of the piston;
step A4: according to the position of the piston, the computer module controls the robot to move and operates the mechanical gripper to grab the piston, the grabbed piston is moved to an image acquisition position point right above the cylinder body combination device, the piston is not identified or an error is identified for a long time in the assembling process, and the computer module gives an alarm;
step A5: the alternating current servo motor works, the cylinder body is rotated to a fixed position, the camera collects an image of the cylinder body, and the piston groove is identified according to the characteristics of the image of the cylinder body;
step A6: selecting one of the piston grooves according to the position of the piston groove obtained by the computer module, marking the piston groove, controlling the robot to move, moving the piston to the position right above the piston groove, and pushing the piston into the piston groove by using a mechanical gripper;
step A7: moving the robot to an initial point, if the number of the assembled pistons is less than 4, repeating the steps A2, A3, A4, A5 and A6, and sequentially feeding the four pistons into piston grooves of the cylinder body;
step A8: after the assembly work is finished, the robot returns to the initial point, the alternating current servo motor works, the cylinder body with the assembled piston is rotated to a fixed position, and preparation is made for fixing the piston.
By adopting the technical scheme, the invention has the following technical effects:
1. the positioning and assembling of the robot are completed under the guidance of a camera, and the position is obtained through data processing of a computer module;
2. the cylinder body combination device can flexibly rotate, is easy to maintain and control, has stronger operability in the assembly process, and is more convenient for the later assembly of an automobile engine;
3. the control process of the whole system is completed by the computer module, and all parts work independently and are coordinated with each other, so that the stability of the robot system is improved, and the functions of the robot are greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view structural view of the cylinder block assembly;
FIG. 3 is a top view of the cylinder block assembly;
FIG. 4 is a schematic diagram of a computer module structure;
FIG. 5 is a flow chart of the overall assembly process of the present invention.
Detailed Description
As shown in fig. 1, the structure of the present invention is schematically illustrated, and includes a robot 11, a camera 12, a gripper 13, a cylinder assembly 14, a computer module 17, and a piston 19; a plurality of assembled pistons 19 are arranged side by side on the iron stand platform 20, and the assembled pistons 19 mean that the pistons are provided with connecting rods and pins; the mechanical gripper 13 is designed to adapt to a piston structure, and the mechanical gripper 13 is installed at the tail end of the robot 11 and used for grabbing the piston 19, clamping a piston ring and assembling the piston 19; the camera 12 is arranged at the front end of the arm of the robot 11, moves along with the robot 11 and is used for identifying and positioning the cylinder 15 on the piston 19 and cylinder combination device 14; the computer module 17 is respectively connected with the robot 11, the camera 12, the mechanical gripper 13 and the cylinder combination device 14 through signal lines 18, so as to realize data processing and control signal transmission. The robot 11 is a YASKAWA DX200 MH24 joint robot, and the camera 12 is a large constant MER-030-.
As shown in fig. 2 and 3, the cylinder assembly 14 includes an ac servo motor 16, a cylinder 15, a clamping mechanism 21, and a base 22, the ac servo motor 16 is mounted on the clamping mechanism 21, the clamping mechanism 21 is mounted on the base 22, the cylinder 15 is fixed between the clamping mechanisms 21, the cylinder 15 is driven to rotate 360 ° by the rotation of the ac servo motor 16, and the cylinder 15 is provided with a plurality of piston grooves 31. The number of the piston grooves 31 on the piston 19 and the cylinder body 15 is four, and the cylinder body of the Audi A4L engine is selected as the cylinder body.
The cylinder assembly 14 is prepared as follows:
step B1; establishing a conversion relation between the rotation angle of the alternating current servo motor 16 and the position of the cylinder body 15, determining the assembly position of the cylinder body 15, adjusting the rotation speed of the alternating current servo motor 16, and waiting for receiving an assembly signal sent by the computer module 17;
step B2: after the computer module 17 sends the assembly signal, the cylinder 15 is rotated to the assembly position to wait for the installation of the piston 19;
step B3: after the four pistons 19 are installed, the computer module 17 sends a transfer completion signal, and the alternating current servo motor 16 rotates at a low speed by 180 degrees to prepare for fixing the pistons 19.
As shown in fig. 4, the computer module 17 of the present invention includes an image recognition and positioning module, a paw control module, a robot control module, a cylinder assembly control module, and a central control module, wherein the image recognition and positioning module includes piston 19 positioning and piston groove 31 positioning of the cylinder 15, the image recognition and positioning module determines the operation accuracy of the paw control module, the robot control module, and the cylinder assembly control module, and the data output by the image recognition and positioning module is transmitted to the central control module, and the data is distributed to the paw control module, the robot control module, and the cylinder assembly control module, and is coordinated to control, and each module transmits the processed data to each device to realize the whole assembly work.
The piston positioning working process in the image recognition positioning module is as follows:
step C1: carrying out graying processing on the piston image acquired by the camera 12 to obtain a grayed picture containing the bottoms of the plurality of pistons 19;
step C2: matching the stored piston image external circular contour characteristic template with a gray picture containing the bottoms of a plurality of pistons 19 by using a template matching algorithm to find an area containing a piston image;
step C3: calculating the number of pistons in the image, if the number of pistons 19 is more than 1, selecting the piston at the leftmost end of the image, and extracting the piston by image segmentation;
step C4: the bottom of the piston 19 leaving the factory is provided with a directional characteristic mark, a template matching algorithm is used for matching a piston picture template containing characteristics with an extracted piston picture, the characteristics are identified, and the position of the piston 19 is positioned and extracted;
step C5: and transmitting the obtained position and the corresponding piston data to a central control module for processing.
The cylinder body piston groove positioning working process in the image recognition positioning module is as follows:
step D1, numbering the piston grooves 31, receiving control module data, and determining the need to identify the piston grooves 31 number;
step D2, performing graying processing on the cylinder images acquired by the camera 12 to obtain grayed pictures with four piston grooves 31;
d3, comparing the pre-stored external outline image template of the cylinder piston groove 31 with the gray image of the cylinder with four piston grooves by using a template matching algorithm, and identifying and positioning the positions of the four piston grooves 31;
and step D4, determining the piston groove 31 to be assembled according to the number, and transmitting the obtained position data to the central control module.
FIG. 5 is a flow chart of the overall assembly process of the present invention, including the following steps:
step A1: adjusting parameters of a camera 12, establishing a conversion relation between a mechanical gripper 13 of the robot 11 and a coordinate system of the camera 12, and setting an initial preparation position point of the robot 11, an image acquisition position point of a cylinder body 15 and a fixed position point of the cylinder body 15;
step A2: moving the robot 11 to an initial point, starting to acquire a piston image on the iron stand workbench 20 by the camera 12, identifying the pistons 19 according to the piston image by the computer module 17, calculating the number of the pistons 19, and determining the pistons 19 to be grabbed;
step A3: the computer module 17 extracts the characteristics of the piston 19 to be grabbed and calculates to obtain the position of the piston 19;
step A4: according to the position of the piston 19, the computer module 17 controls the robot 11 to move and operates the mechanical gripper 13 to grab the piston 19, the grabbed piston 19 is moved to an image acquisition position point right above the cylinder combination device 14, the piston 19 is not identified for a long time or an error is identified in the assembly process, and the computer module 17 gives an alarm;
step A5: the alternating current servo motor 16 works to rotate the cylinder body 15 to a fixed position, the camera 12 collects images of the cylinder body 15, and the piston groove 31 is identified according to the image characteristics of the cylinder body 15;
step A6: selecting one of the piston grooves 31 according to the positions of the piston grooves 31 obtained by the computer module 17, marking the selected piston groove 31, controlling the robot 11 to move, moving the piston 19 to be right above the piston groove 31, and pushing the piston 19 into the piston groove 31 by using the mechanical gripper 13;
step A7: moving the robot 11 to the initial point, if the number of the assembled pistons 19 is less than 4, repeating the steps A2, A3, A4, A5 and A6, and sequentially feeding the four pistons 19 into the piston grooves 31 of the cylinder 15;
step A8: after the assembly is completed, the robot 11 returns to the initial position, and the ac servo motor 16 operates to rotate the cylinder 15 with the piston 19 assembled to a fixed position in preparation for fixing the piston 19.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. The utility model provides an automobile engine piston, cylinder body assembly system based on industrial robot which characterized in that: comprises a robot (11), a camera (12), a mechanical gripper (13), a cylinder combination device (14), a computer module (17) and a piston (19);
a plurality of assembled pistons (19) are placed side by side on a hob platform (20);
the mechanical gripper (13) is arranged at the tail end of the robot (11) and is used for grabbing the piston (19), clamping the piston ring and assembling the piston (19);
the camera (12) is arranged at the front end of an arm of the robot (11) and is used for identifying and positioning a cylinder (15) on the piston (19) and cylinder combination device (14);
the computer module (17) is respectively connected with the robot (11), the camera (12), the mechanical gripper (13) and the cylinder body combination device (14) through signal lines (18) to realize data processing and control signal transmission;
the cylinder body combination device (14) comprises an alternating current servo motor (16), a cylinder body (15), a clamping mechanism (21) and a base (22), wherein the alternating current servo motor (16) is installed on the clamping mechanism (21), the clamping mechanism (21) is installed on the base (22), the cylinder body (15) is fixed between the clamping mechanism (21), the cylinder body (15) is driven to rotate together through the rotation of the alternating current servo motor (16), and a plurality of piston grooves (31) are formed in the cylinder body (15);
the computer module (17) comprises an image recognition positioning module, a paw control module, a robot control module, a cylinder body assembly control module and a central control module, wherein the image recognition positioning module comprises piston (19) positioning and piston groove (31) positioning of a cylinder body (15), the image recognition positioning module determines the operation accuracy of the paw control module, the robot control module and the cylinder body assembly control module, data output by the image recognition positioning module are transmitted to the central control module, the data are respectively distributed to the paw control module, the robot control module and the cylinder body assembly control module, data are coordinated and controlled, and each part of the module transmits the processed data to each device to realize integral assembly work;
the working process of piston positioning in the image recognition positioning module is as follows:
step C1: carrying out graying processing on a piston image acquired by a camera (12) to obtain a grayed picture comprising the bottoms of a plurality of pistons (19);
step C2: matching the stored piston image external circle contour characteristic template with a gray picture comprising the bottoms of a plurality of pistons (19) by using a template matching algorithm to find an area comprising a piston image;
step C3: calculating the number of pistons in the image, if the number of the pistons (19) is more than 1, selecting the piston at the leftmost end of the image, and extracting the piston by image segmentation;
step C4: the bottom of the factory piston (19) is provided with a directional characteristic mark, a piston picture template containing characteristics is matched with the extracted piston picture containing characteristics by using a template matching algorithm, the characteristics are identified, and the position of the piston (19) is positioned and extracted;
step C5: and transmitting the obtained position and the corresponding piston data to a central control module for processing.
2. An industrial robot based automotive engine piston and cylinder assembly system according to claim 1, characterized in that: the number of the piston grooves (31) on the piston (19) and the cylinder body (15) is four.
3. An industrial robot based automotive engine piston and cylinder assembly system according to claim 1, characterized in that: the alternating current servo motor (16) rotates to drive the cylinder body (15) to rotate for 360 degrees.
4. An industrial robot based automotive engine piston and cylinder assembly system according to claim 1, characterized in that: the cylinder block assembly (14) is prepared as follows:
step B1; establishing a conversion relation between the rotation angle of the alternating current servo motor (16) and the position of the cylinder body (15), determining the assembly position of the cylinder body (15), adjusting the rotation speed of the alternating current servo motor (16), and waiting for receiving an assembly signal sent by the computer module (17);
step B2: after the computer module (17) sends an assembly signal, the cylinder body (15) is rotated to an assembly position to wait for the installation of the piston (19);
step B3: when the four pistons (19) are installed, the computer module (17) sends a transfer completion signal, and the alternating current servo motor (16) rotates at a low speed by 180 degrees to prepare for fixing the pistons (19).
5. An industrial robot based automotive engine piston and cylinder assembly system according to claim 1, characterized in that: the working process of positioning the piston groove of the cylinder body in the image recognition positioning module is as follows:
d1, numbering the piston groove (31), receiving control module data, and determining the number of the piston groove (31) to be identified;
d2, performing graying processing on the cylinder image acquired by the camera (12) to obtain a grayed picture with four piston grooves (31);
d3, using a template matching algorithm to compare the stored external outline image template of the cylinder piston groove (31) with a gray image of a cylinder containing four piston grooves, and identifying and positioning the positions of the four piston grooves (31);
and D4, determining the piston groove (31) to be assembled according to the number, and transmitting the obtained position data to the central control module.
6. An automobile engine piston and cylinder assembly method based on an industrial robot-based automobile engine piston and cylinder assembly system of any one of claims 1 to 5, characterized in that: the method comprises the following steps:
step A1: adjusting parameters of a camera (12), establishing a conversion relation between a mechanical gripper (13) of the robot (11) and a coordinate system of the camera (12), and setting an initial preparation position point of the robot (11), an image acquisition position point of a cylinder body (15) and a fixed position point of the cylinder body (15);
step A2: moving the robot (11) to an initial point, starting to acquire a piston image on an iron frame workbench (20) by a camera (12), identifying the pistons (19) by a computer module (17) according to the piston image, calculating the number of the pistons (19), and determining the pistons (19) to be grabbed;
step A3: the computer module (17) extracts the characteristics of the piston (19) to be grabbed and calculates to obtain the position of the piston (19);
step A4: according to the position of the piston (19), the computer module (17) controls the robot (11) to move and operate the mechanical gripper (13) to grab the piston (19), the grabbed piston (19) is moved to an image acquisition position point right above the cylinder combination device (14), the piston (19) is not identified or an error is identified for a long time in the assembly process, and the computer module (17) gives an alarm;
step A5: the alternating current servo motor (16) works to rotate the cylinder body (15) to a fixed position, the camera (12) collects images of the cylinder body (15), and the piston groove (31) is identified according to the image characteristics of the cylinder body (15);
step A6: selecting one piston groove (31) according to the position of the piston groove (31) obtained by the computer module (17), marking, controlling the robot (11) to move, moving the piston (19) to be right above the piston groove (31), and pushing the piston (19) into the piston groove (31) by using the mechanical gripper (13);
step A7: moving the robot (11) to an initial point, if the number of the assembled pistons (19) is less than 4, repeating the steps A2, A3, A4, A5 and A6, and sequentially feeding the four pistons (19) into the piston grooves (31) of the cylinder body (15);
step A8: after the assembly work is finished, the robot (11) returns to the initial point, the alternating current servo motor (16) works, and the cylinder body (15) with the assembled piston (19) is rotated to a fixed position to prepare for fixing the piston (19).
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| CN201610016721.0A CN105499953B (en) | 2016-01-12 | 2016-01-12 | Industrial robot based automobile engine piston and cylinder body assembly system and method |
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| CN201610016721.0A CN105499953B (en) | 2016-01-12 | 2016-01-12 | Industrial robot based automobile engine piston and cylinder body assembly system and method |
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